{"id":"https://openalex.org/W3003030569","doi":"https://doi.org/10.1109/tcds.2020.2968733","title":"Single-Layer Learning-Based Predictive Control With Echo State Network for Pneumatic-Muscle-Actuators-Driven Exoskeleton","display_name":"Single-Layer Learning-Based Predictive Control With Echo State Network for Pneumatic-Muscle-Actuators-Driven Exoskeleton","publication_year":2020,"publication_date":"2020-01-22","ids":{"openalex":"https://openalex.org/W3003030569","doi":"https://doi.org/10.1109/tcds.2020.2968733","mag":"3003030569"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2020.2968733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.2968733","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066499031","display_name":"Yu Cao","orcid":"https://orcid.org/0000-0002-3486-5518"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Cao","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3486-5518","affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066790771","display_name":"Jian Huang","orcid":"https://orcid.org/0000-0002-6267-8824"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Huang","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-6267-8824","affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100770696","display_name":"Caihua Xiong","orcid":"https://orcid.org/0000-0003-2326-0289"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caihua Xiong","raw_affiliation_strings":["School of Mechanical Science and Engineering and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2326-0289","affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering and the State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":2.2207,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.87953084,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"13","issue":"1","first_page":"80","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10977","display_name":"Optical Imaging and Spectroscopy Techniques","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9613999724388123,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7632763385772705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.712701678276062},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6652731895446777},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5936934947967529},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5764856338500977},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5007054805755615},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49907875061035156},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.49393516778945923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4790938198566437},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4134836494922638},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40312254428863525},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3600151836872101},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2959517240524292},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.22058454155921936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16636991500854492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09552326798439026},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.08646842837333679}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7632763385772705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.712701678276062},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6652731895446777},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5936934947967529},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5764856338500977},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5007054805755615},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49907875061035156},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.49393516778945923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4790938198566437},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4134836494922638},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40312254428863525},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3600151836872101},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2959517240524292},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.22058454155921936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16636991500854492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09552326798439026},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.08646842837333679},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2020.2968733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2020.2968733","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3655379977","display_name":null,"funder_award_id":"2017YFE0128300","funder_id":"https://openalex.org/F4320335830","funder_display_name":"International Science and Technology Cooperation Programme"},{"id":"https://openalex.org/G4688036712","display_name":null,"funder_award_id":"HUST: 2019kfyRCPY014","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320335830","display_name":"International Science and Technology Cooperation Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1493333755","https://openalex.org/W1521257674","https://openalex.org/W1633007112","https://openalex.org/W2000795873","https://openalex.org/W2013590475","https://openalex.org/W2070122598","https://openalex.org/W2110496175","https://openalex.org/W2114702494","https://openalex.org/W2115435632","https://openalex.org/W2116767351","https://openalex.org/W2125573909","https://openalex.org/W2128904261","https://openalex.org/W2132660967","https://openalex.org/W2147288676","https://openalex.org/W2215281846","https://openalex.org/W2242021551","https://openalex.org/W2288688639","https://openalex.org/W2326141327","https://openalex.org/W2468673050","https://openalex.org/W2470482648","https://openalex.org/W2514523983","https://openalex.org/W2521872058","https://openalex.org/W2536318021","https://openalex.org/W2546575425","https://openalex.org/W2548358476","https://openalex.org/W2566495809","https://openalex.org/W2593550575","https://openalex.org/W2739137541","https://openalex.org/W2762093212","https://openalex.org/W2767704770","https://openalex.org/W2772399509","https://openalex.org/W2779863938","https://openalex.org/W2795105096","https://openalex.org/W2895302821","https://openalex.org/W2897791698","https://openalex.org/W2913079872","https://openalex.org/W2942038676","https://openalex.org/W2968196960","https://openalex.org/W6631331923"],"related_works":["https://openalex.org/W2557545276","https://openalex.org/W2887985348","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2401700601","https://openalex.org/W1960909554","https://openalex.org/W2080896647","https://openalex.org/W2158000646","https://openalex.org/W2886734572"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,33,50,78,104,116],"single-layer":[4,101],"learning-based":[5],"predictive":[6,113],"control":[7,48,114,123,160,169],"strategy":[8,124,170],"for":[9,21,175],"pneumatic":[10],"muscle":[11],"actuators":[12],"(PMAs)-driven":[13],"lower":[14],"limb":[15],"exoskeleton.":[16,142],"Although":[17],"PMAs":[18,39],"are":[19,147],"promising":[20],"rehabilitation":[22],"robots,":[23],"they":[24],"suffer":[25],"from":[26],"nonlinearities,":[27],"unmodeled":[28],"uncertainties,":[29],"hysteresis,":[30],"etc.":[31],"As":[32],"consequence,":[34],"the":[35,45,55,71,74,95,98,110,122,132,138,141,155,158,164,167],"mechanism":[36],"actuated":[37],"by":[38,87],"rarely":[40],"involves":[41],"complex":[42],"dynamics,":[43],"and":[44,83,90],"related":[46],"precise":[47],"remains":[49],"challenging":[51],"problem.":[52],"Hence,":[53],"considering":[54],"global":[56],"approximation":[57],"capability":[58],"of":[59,73,100,112,136,140,157],"neural":[60],"networks,":[61],"we":[62],"use":[63],"an":[64],"echo":[65],"state":[66],"network":[67],"(ESN)":[68],"to":[69,127,153],"approximate":[70],"dynamics":[72,139],"PMAs-driven":[75],"exoskeleton":[76],"with":[77,149,163],"nonlinear":[79],"autoregressive":[80],"exogenous":[81],"model":[82,96],"forecast":[84],"its":[85],"behaviors":[86],"constructing":[88],"training":[89,145,178],"testing":[91],"data":[92],"sets.":[93],"Through":[94],"predictions,":[97],"idea":[99],"learning":[102],"solves":[103],"quadratic":[105],"programming":[106],"problem":[107],"based":[108],"on":[109],"principle":[111],"over":[115],"finite":[117],"future":[118],"horizon.":[119],"After":[120],"that,":[121],"turns":[125],"out":[126],"be":[128],"asymptotically":[129],"stable":[130],"when":[131],"ESN":[133],"is":[134],"capable":[135],"approximating":[137],"Passive":[143],"gait":[144,177],"experiments":[146],"conducted":[148],"six":[150],"healthy":[151],"subjects":[152],"verify":[154],"effectiveness":[156],"proposed":[159,168],"strategy.":[161],"Compared":[162],"traditional":[165],"strategies,":[166],"achieves":[171],"higher":[172],"tracking":[173],"accuracy":[174],"passive":[176],"tasks.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
